function xdesired = QuadrotorReferenceTrajectory(t)
% 参考轨迹
%     x =6*sin(t/3);
%     y = -6*sin(t/3).*cos(t/3);
%     z = 6*cos(t/3);
    w = 2*pi/10;
    x = ones(1,length(t));
    x([1:length(t)/10]) = 0;
    y = ones(1,length(t));
    y([1:length(t)/10]) = 0;
    z = ones(1,length(t));
    z([1:length(t)/10]) = 0;
%     x = sin(w*t);
%     y = cos(w*t);
%     z = (5/40)*t;
    phi = zeros(1,length(t));
    theta = zeros(1,length(t));
%     psi = zeros(1,length(t));
    psi = 0.8*ones(1,length(t));
    xdot = zeros(1,length(t));
    ydot = zeros(1,length(t));
    zdot = zeros(1,length(t));
    phidot = zeros(1,length(t));
    thetadot = zeros(1,length(t));
    psidot = zeros(1,length(t));
 
    xdesired = [x;y;z;phi;theta;psi;xdot;ydot;zdot;phidot;thetadot;psidot];
 
end
 